• 로봇학회논문지
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• 제18권1호
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• pp.93-98
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• 2023

In this paper, the development of an autonomous electric vehicle for logistics with a robotic arm is introduced. The manual driving electric vehicle was converted into an electric vehicle platform capable of autonomous driving. For autonomous driving, an encoder is installed on the driving wheels, and an electronic power steering system is applied for automatic steering. The electric vehicle is equipped with a lidar sensor, a depth camera, and an ultrasonic sensor to recognize the surrounding environment, create a map, and recognize the vehicle location. The odometry was calculated using the bicycle motion model, and the map was created using the SLAM algorithm. To estimate the location of the platform based on the generated map, AMCL algorithm using Lidar was applied. A user interface was developed to create and modify a waypoint in order to move a predetermined place according to the logistics process. An A-star-based global path was generated to move to the destination, and a DWA-based local path was generated to trace the global path. The autonomous electric vehicle developed in this paper was tested and its utility was verified in a warehouse.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1541-1544
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• 1997

The rehailitation robot, one of the service robot, is the important area in the service automation. In the paper, we describe the overall configuration of KARES(KAIST Rehabilitation Engineering System), which is an intellingent rehabilitaion robotic system designed to assist the independent livelihood of the handicapped and the eldrly. KARES consists of the 6 degree of freedom robot arm mounted on a wheelchair, the controller ofr the arm, sensors to perceive environment, and user interface. Basic desired hobs in KARES are gripping the target object and moving it to the user's face for eating, drinking, or cooperation work wiht the mouth. Currently, the manual operation of the arm is available for gripping to target objects. The autonomous functionality will be ginven for the facilities of the human operator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2540-2545
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• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• Journal of Power Electronics
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• 제16권1호
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• pp.205-216
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• 2016

The manufacturing sector resorts to automation to increase production and homogeneity of products during mass production, without increasing scarce, expensive, and unreliable manpower. Automation in the form of multiple robotic arms that handle materials in all directions in different stages of the process is proven to be the best way to increase production. This paper thoroughly investigates robotic single-arm movements, that is, 360° vertical rotation, with the help of a brushless DC motor, controlled by a fuzzy proportional-integral-derivative (PID) controller. This paper also deals with the design and performance of the fuzzy-based PID controller used to control vertical movement against the limited scope of conventional PID feedback controller and how the torque of the arm is affected by the fuzzy PID controller in the four quadrants to ensure constant speed and accident-free operation despite the influence of gravitational force. The design was simulated through MATLAB/SIMULINK and integrated with dSPACE DS1104-based hardware to verify the dynamic behaviors of the arm.

• 한국인터넷방송통신학회논문지
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• 제24권5호
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• pp.53-59
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• 2024

본 연구에서는 카메라 기반의 6DoF(6 Degrees of Freedom) 추적 및 포즈 추정 시스템을 설계하고 구현하였다. 특히, 6DoF 로봇 팔을 활용하여 사용자의 모든 손가락에 대한 위치와 자세를 정밀하게 추정하는 방법을 제안한다. 시스템은 Python 프로그래밍 언어를 기반으로 하여, Mediapipe와 OpenCV 라이브러리를 활용하여 개발되었다. Mediapipe는 손가락의 키포인트를 실시간으로 추출하는 데 사용되며, 각 손가락의 관절 위치를 정확하게 인식한다. OpenCV는 카메라에서 수집된 이미지 데이터를 처리하여 손가락의 위치를 분석하고, 이를 통해 포즈 추정을 수행한다. 이러한 접근법은 다양한 조명 조건과 손의 위치 변화에도 불구하고 높은 정확도를 유지할 수 있도록 설계되었다. 제안한 시스템은 실험을 통해 그 성능을 검증하였으며, 손동작 인식의 정확성과 로봇 팔의 제어 능력을 평가하였다. 실험 결과, 본 시스템은 실시간으로 손가락의 위치를 추정하고, 이를 기반으로 6DoF 로봇 팔의 정밀한 동작을 구현할 수 있음을 보여주었다. 본 연구는 로봇 제어 및 인간-로봇 상호작용 분야에 중요한 기여를 할 것으로 기대되며, 향후 다양한 응용가능성을 열어줄 것이다. 본 연구의 결과는 로봇 기술의 발전과 더불어 사람과 로봇 간의 자연스러운 상호작용을 촉진하는 데 기여할 것이다.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.336-343
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• 2022

Industrial robotic arms are widely adopted in numerous industries for manufacturing automation under factory settings, which eliminates the limitations of manual labor and provides significant productivity and quality benefits. The U.S. modular construction industry, despite having similar controlled factory environments, still heavily relies on manual labor. Thus, this study investigates the U.S., Canada, and Europe-based leading modular construction companies and research labs implementing industrial robotic arms for manufacturing automation. The investigation mainly considered the current research scope, industry state, and constraints, as well as identifying the types and specifications of the robotic arms in use. First, the study investigated well-recognized modular building associations, the Modular Building Institute (MBI), and renowned architecture design magazine, Dezeen to gather industry updates. The authors discovered one university lab and a few companies that adopted Switzerland-based robotic arms, ABB. Researching ABB robotics led to the discovery of ABB's competitor, Germany-based KUKA robotic arms. Consequently, research extended to the companies and labs adopting KUKA models. In total, this study has identified seven modular companies and four research labs. All companies employed robotic arms and gantry robot combinations in a production-line-like system for partial automation, and some adopted design standardization for optimization. The common goal among the labs was to achieve greater flexibility and full automation with robotic arms. This study will help companies better implement robotic arm automation by providing recommendations from investigating its current industry status.

• Journal of Gynecologic Oncology
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• 제29권6호
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• pp.87.1-87.4
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• 2018

Objective: Upper paraaortic lymph node dissection (UPALD) to the infrarenal level is one of the most challenging robotic procedures. Because robotic system has the limitation in robotic arm mobility. This surgical video introduces a novel robotic approach, lower pelvic port placement (LP3), to perform optimally and simultaneously both UPALD and pelvic procedures in gynecologic cancer patients using da Vinci Xi system. Methods: The patient presented with high-grade endometrial cancer. She underwent robotic surgical staging operation. For the setup of the LP3, a line was drown between both anterior superior iliac spines. At 3 cm below this line, another line was drown and four robotic ports were placed on this line. Results: After paraaortic lymph node dissection (PALD) was completed, the boom of robotic system was rotated $180^{\circ}$ to retarget for the pelvic lateral displacement. Robotic ports were placed and docked again. The operation was completed robotically without any complication. Conclusion: The LP3 was feasible for performing simultaneously optimal PALD as well as procedures in pelvic cavity in gynecologic cancer patients. The advantage of LP3 technique is the robotic port placement that affords for multi-quadrant surgery, abdominal and pelvic dissection. The LP3 is facilitated by utilizing advanced technology of Xi system, including the patient clearance function, the rotating boom, and 'port hopping' that allows using every ports for a camera. The LP3 will enable surgeons to extend the surgical indication of robotic surgical system in the gynecologic oncologic field.

• 한국정밀공학회지
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• 제13권2호
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.555-559
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• 2007

There are few representative humanoid robots including Japanese ASIMO from Honda and HUBO from KAIST. We cannot consider ASIMO and HUBO the perfect humanoid robots, however. The basic principles when developing humanoid robot is to make them to work in a similar way as human's movement of arm. In this paper, we proposed method of designing humanoid robotic arms based on the morphological.eurological analysis of human's arm tor robot's arm to work in a similar way as human's ann, and we also implemented arm movement control system to humanoids robot by using SERCOS communication.